[Problem] To provide a rotation control device which can suppress distortion in orientation and movement even when disturbances occur in rotating body control, and to provide a mobile body and a conveyance robot. [Solution] This rotation control device is provided with a first controller for controlling the rotation speed of a first rotating body to a target first rotation speed, and a second controller for controlling the rotation speed of a second rotating body to a target second rotation speed. The first controller inputs, to the second controller, information relating to the aforementionedsecond rotation speed received from outside, determines the relative relation between the rotation state of the first rotating body and the rotation state of the second rotating body, acquires a first measurement value of the rotation state of the first rotating body and a second measurement value of the rotation state of the second rotating body, calculates correction control such that the relation between the first measured value and the second measured value approaches the aforementioned relative relation, and applies the aforementioned correction control to the first rotating body.
本发明提供即使在旋转体的控制中发生了紊乱的情况下也能够抑制姿势及运动的变形的旋转控制装置、移动体及搬运机器人。旋转控制装置具备将第1旋转体的旋转速度控制成目标的第1旋转速度的第1控制器以及将第2旋转体的旋转速度控制成目标的第2旋转速度的第2控制器,上述第1控制器将从外部接收的与上述第2旋转速度相关的信息输入上述第2控制器,决定上述第1旋转体中的旋转状态与上述第2旋转体中的旋转状态的相对关系,取得上述第1旋转体中的旋转状态的第1测定值和上述第2旋转体中的旋转状态的第2测定值,计算使上述第1测定值与上述第2测定值的关系接近上述相对关系的校正控制,并将上述校正控制施加于上述第1旋转体。
ROTATION CONTROL DEVICE, MOBILE BODY AND CONVEYANCE ROBOT
旋转控制装置、移动体及搬运机器人
17.07.2020
Patent
Elektronische Ressource
Chinesisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / H02P CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS , Steuern oder Regeln von elektrischen Motoren, elektrischen Generatoren, dynamoelektrischen Umformern |
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